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— | ref:composite_measure [2023/12/14 16:03] (current) – created - external edit 127.0.0.1 | ||
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+ | ====== CompositeMeasure ====== | ||
+ | [[measure|Measure]] made up of different weighted Measures. | ||
+ | |||
+ | Individual child measures are evaluated and summed up, respecting the '' | ||
+ | GaitMeasure { | ||
+ | weight = 100 | ||
+ | threshold = 0.5 | ||
+ | ... | ||
+ | } | ||
+ | EffortMeasure { | ||
+ | weight = 0.1 | ||
+ | ... | ||
+ | } | ||
+ | } | ||
+ | </ | ||
+ | dual_sided = 1 | ||
+ | # this next measure is created for both ankle_angle_l and ankle_angle_r: | ||
+ | DofMeasure { | ||
+ | weight = 0.1 | ||
+ | dof = ankle_angle | ||
+ | position { min = -60 max = 60 squared_penalty = 1 } | ||
+ | } | ||
+ | # this next measure is created for both knee_angle_l and knee_angle_r: | ||
+ | DofMeasure { | ||
+ | weight = 0.01 | ||
+ | threshold = 5 | ||
+ | dof = knee_angle | ||
+ | force { min = 0 max = 0 abs_penalty = 1 } | ||
+ | } | ||
+ | } | ||
+ | </ | ||
+ | |||
+ | **Inherits from** [[measure|Measure]]. | ||
+ | |||
+ | ==== Public Attributes ==== | ||
+ | ^ Parameter ^ Type ^ Description ^ | ||
+ | ^ dual_sided | bool | Create symmetric measures for both sides; default = false. | | ||
+ | ^ name | String | Name of the [[measure|Measure]], | ||
+ | ^ weight | Real | Weighting factor applied to the result of the measure; default = 1. | | ||
+ | ^ threshold | Real | Threshold above / below which the measure becomes zero; default = 0. | | ||
+ | ^ threshold_transition | Real | Transition range above '' | ||
+ | ^ result_offset | Real | Offset added to measure result; default = 0. | | ||
+ | ^ minimize | bool | Indicate whether this measure should be minimized; default value depends on the measure type (usually true). | | ||
+ | ^ start_time | TimeInSeconds | Time [s] at which [[controller|Controller]] becomes active; default = 0. | | ||
+ | ^ stop_time | TimeInSeconds | Time [s] at which [[controller|Controller]] becomes inactive; default = until simulation ends. | | ||
+ | ^ signature_prefix | String | Prefix signature with custom string. Special tags: DATE_TIME, DATE_TIME_EXACT, | ||
+ | ^ signature_postfix | String | Append custom string to signature. Special tags: DATE_TIME, DATE_TIME_EXACT, | ||
+ | ^ signature | String | Set custom signature and omit the auto-generated signature. | | ||
+ | |||
+ | < | ||